private void Update()
{
// This is for first movement in the sequence
if (Input.GetKeyDown(KeyCode.A))
{
testList.PList[4].Rotation = -45;
testList.PList[5].Rotation = -45;
testList.PList[8].Rotation = 90;
testList.PList[9].Rotation = 90;
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
// This is for the second movement in the sequence (repeate this and 3)
if (Input.GetKeyDown(KeyCode.S))
{
testList.PList[4].Rotation = 45;
testList.PList[5].Rotation = 45;
testList.PList[8].Rotation = -90;
testList.PList[9].Rotation = -90;
testList.PList[2].Rotation = -45;
testList.PList[3].Rotation = -45;
testList.PList[6].Rotation = 90;
testList.PList[7].Rotation = 90;
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
// Third movement in the sequence
if (Input.GetKeyDown(KeyCode.D))
{
testList.PList[4].Rotation = -45;
testList.PList[5].Rotation = -45;
testList.PList[8].Rotation = 90;
testList.PList[9].Rotation = 90;
testList.PList[2].Rotation = 45;
testList.PList[3].Rotation = 45;
testList.PList[6].Rotation = -90;
testList.PList[7].Rotation = -90;
GameObject root = GameObject.Find("Sphere");
root.transform.Translate(Vector3.left * Time.deltaTime * 100);
ObjectJoint.SetJoints(testList, GameObject.Find("Sphere"));
}
#if ServerTesting
// Configuring the robot with server test
if (Input.GetKeyDown(KeyCode.A))
{
RobotStructure test = ClientUDP <RobotStructure> .UDPSend(8888, testStructure);
ConstructionManager.GenerateRobot(test);
ObjectJoint.GetJoints(GameObject.Find("Sphere").GetComponent <ObjectJoint>().ChildObjectJoints, GameObject.Find("Sphere"));
}
// Moving the thing
if (Input.GetKeyDown(KeyCode.Space))
{
PositionListCreator.CreateList(GameObject.Find("Sphere"), testList.PList);
PositionList newList = ClientUDP <PositionList> .UDPSend(7777, testList);
ObjectJoint.SetJoints(newList, GameObject.Find("Sphere"));
}
#endif
}
// Use this for initialization
void Start()
{
// Creating the structure
testStructure.RootJointID = 1;
// Creating RootJoint
Vector3 onePos = new Vector3(0, 5, 0);
Quaternion oneRot = new Quaternion(0, 0, 0, 0);
Vector3 Axis = new Vector3(0, 0, 1);
float Rotation = 0;
JointStorage jointStorage1 = MakeMethods.MakeJoint(onePos, oneRot, Axis, Rotation, isRoot: true);
testStructure.JointDict.Add(1, jointStorage1);
// Creating Link 1 (Body of the robot)
Vector3 twoPos = new Vector3(0, 4, 0);
Quaternion defaultLinkRotation = new Quaternion();
ObjectSpecs defaultSpecs = MakeMethods.MakeShape("cube", 5, 1, 5);
LinkStorage linkStorage1 = MakeMethods.MakeLink(twoPos, defaultLinkRotation, defaultSpecs);
testStructure.LinkDict.Add(1, linkStorage1);
// Creating legs (first set)
Vector3 link2Pos = new Vector3(2, 2, 2);
ObjectSpecs defaultLeg = MakeMethods.MakeShape("cube", 1, 2, 1);
LinkStorage linkStorage2 = MakeMethods.MakeLink(link2Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(2, linkStorage2);
Vector3 link3Pos = new Vector3(2, 2, -2);
LinkStorage linkStorage3 = MakeMethods.MakeLink(link3Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(3, linkStorage3);
Vector3 link4Pos = new Vector3(-2, 2, 2);
LinkStorage linkStorage4 = MakeMethods.MakeLink(link4Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(4, linkStorage4);
Vector3 link5Pos = new Vector3(-2, 2, -2);
LinkStorage linkStorage5 = MakeMethods.MakeLink(link5Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(5, linkStorage5);
// Creating Joint 2
Vector3 threePos = new Vector3(2, 3, 2);
Quaternion threeRot = new Quaternion(0, 0, 0, 0);
Vector3 threeAxis = new Vector3(0, 0, 1);
float threeRotation = 0;
JointStorage jointStorage2 = MakeMethods.MakeJoint(threePos, threeRot, threeAxis, threeRotation);
testStructure.JointDict.Add(2, jointStorage2);
// Creating Joint 3
Vector3 fourPos = new Vector3(2, 3, -2);
Quaternion fourRot = new Quaternion(0, 0, 0, 0);
Vector3 fourAxis = new Vector3(0, 0, 1);
float fourRotation = 0;
JointStorage jointStorage3 = MakeMethods.MakeJoint(fourPos, fourRot, fourAxis, fourRotation);
testStructure.JointDict.Add(3, jointStorage3);
// Creating Joint 4
Vector3 fivePos = new Vector3(-2, 3, 2);
Quaternion fiveRot = new Quaternion(0, 0, 0, 0);
Vector3 fiveAxis = new Vector3(0, 0, 1);
float fiveRotation = 0;
JointStorage jointStorage4 = MakeMethods.MakeJoint(fivePos, fiveRot, fiveAxis, fiveRotation);
testStructure.JointDict.Add(4, jointStorage4);
// Creating Joint 5
Vector3 sixPos = new Vector3(-2, 3, -2);
Quaternion sixRot = new Quaternion(0, 0, 0, 0);
Vector3 sixAxis = new Vector3(0, 0, 1);
float sixRotation = 0;
JointStorage jointStorage5 = MakeMethods.MakeJoint(sixPos, sixRot, sixAxis, sixRotation);
testStructure.JointDict.Add(5, jointStorage5);
// Creating Knee Joints (need to switch axis rotation)
Vector3 kneeOnePos = new Vector3(2, 1, 2);
Quaternion defaultKneeRotation = new Quaternion(0, 0, 0, 0);
Vector3 kneeRotationAxis = new Vector3(0, 0, 1);
float defaultKneeRotationAmount = 0;
JointStorage kneeOneStorage = MakeMethods.MakeJoint(kneeOnePos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(6, kneeOneStorage);
Vector3 kneeTwoPos = new Vector3(2, 1, -2);
JointStorage kneeTwoStorage = MakeMethods.MakeJoint(kneeTwoPos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(7, kneeTwoStorage);
Vector3 kneeThreePos = new Vector3(-2, 1, 2);
JointStorage kneeThreeStorage = MakeMethods.MakeJoint(kneeThreePos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(8, kneeThreeStorage);
Vector3 kneeFourPos = new Vector3(-2, 1, -2);
JointStorage kneeFourStorage = MakeMethods.MakeJoint(kneeFourPos, defaultKneeRotation, kneeRotationAxis, defaultKneeRotationAmount);
testStructure.JointDict.Add(9, kneeFourStorage);
// Creating Final Leg Links
Vector3 shinLeg1Pos = new Vector3(2, -0.5f, 2);
LinkStorage shinLeg1Storage = MakeMethods.MakeLink(shinLeg1Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(6, shinLeg1Storage);
Vector3 shinLeg2Pos = new Vector3(2, -0.5f, -2);
LinkStorage shinLeg2Storage = MakeMethods.MakeLink(shinLeg2Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(7, shinLeg2Storage);
Vector3 shinLeg3Pos = new Vector3(-2, -0.5f, 2);
LinkStorage shinLeg3Storage = MakeMethods.MakeLink(shinLeg3Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(8, shinLeg3Storage);
Vector3 shinLeg4Pos = new Vector3(-2, -0.5f, -2);
LinkStorage shinLeg4Storage = MakeMethods.MakeLink(shinLeg4Pos, defaultLinkRotation, defaultLeg);
testStructure.LinkDict.Add(9, shinLeg4Storage);
// Childrening from the root
jointStorage1.ChildrenLink = 1;
jointStorage1.ChildrenJoints.Add(2);
jointStorage1.ChildrenJoints.Add(3);
jointStorage1.ChildrenJoints.Add(4);
jointStorage1.ChildrenJoints.Add(5);
jointStorage2.ChildrenLink = 2;
jointStorage2.ChildrenJoints.Add(6);
jointStorage3.ChildrenLink = 3;
jointStorage3.ChildrenJoints.Add(7);
jointStorage4.ChildrenLink = 4;
jointStorage4.ChildrenJoints.Add(8);
jointStorage5.ChildrenLink = 5;
jointStorage5.ChildrenJoints.Add(9);
kneeOneStorage.ChildrenLink = 6;
kneeTwoStorage.ChildrenLink = 7;
kneeThreeStorage.ChildrenLink = 8;
kneeFourStorage.ChildrenLink = 9;
// Childrening to the main body
jointStorage2.ParentLink = 1;
jointStorage3.ParentLink = 1;
jointStorage4.ParentLink = 1;
jointStorage5.ParentLink = 1;
kneeOneStorage.ParentLink = 2;
kneeTwoStorage.ParentLink = 3;
kneeThreeStorage.ParentLink = 4;
kneeFourStorage.ParentLink = 5;
ConstructionManager.GenerateRobot(testStructure); // creates the robot from local data
// Moving robot a little up just for presentation
GameObject root = GameObject.Find("Sphere");
PositionListCreator.CreateDict(root, testList.PList);
root.transform.Translate(Vector3.up);
}
// Use this for initialization
void Start()
{
PositionListCreator.CreateList(rootObject, testList.PList);
//ObjectJoint.SetParents(rootObject);
}
